CN109937693A

CN109937693A - A kind of automatic seed harvester of pineapple

Info

Publication number: CN109937693A
Application number: CN201910238058.2A
Authority: CN
Inventors: 吴文松
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2019-06-28

Abstract

The present invention relates to agricultural equipment fields, more particularly to a kind of automatic seed harvester of pineapple, including platform truck, support frame, elevating mechanism and gripping body, gripping body includes support rod and gripper assembly, and the setting that support rod is moved back and forth along lifter plate width direction is in lifter plate center bottom, gripper assembly is horizontally set on support rod bottom end, the platform truck top is provided with power supply close to support frame one end, platform truck is provided with this equipment of driving assembly far from one end of power supply and controls driving assembly by control unit, inter-working between lifting assembly and gripping body, to realize automatic picking and collection to pineapple, the injury of fruit leaf and pericarp to plucker can effectively be avoided, it avoids plucker and bears heavy trailing plants basket for a long time, brambles throughout pineapple ground in walk, it bends over to pick, consume huge physical strength , a large amount of labour is saved, it is time saving and energy saving, the picking cost of pineapple is greatly reduced, the picking efficiency of pineapple is improved.

Description

A kind of automatic seed harvester of pineapple

Technical field

The present invention relates to agricultural equipment fields, and in particular to a kind of automatic seed harvester of pineapple.

Background technique

Pineapple is one of tropical fruit (tree).Fujian and Taiwan are referred to as prosperous pears or prosperous take, and Singapore and Malaysia one is yellow with being known as Pears, continent and Hong Kong are referred to as pineapple.There are a kind more than 70, one of four big fruits in the south of the Five Ridges, pineapple originates in South America Brazil, Ba La One band of Amazon River basin of Gui, 16th century are incoming Chinese from Brazil.Entire torrid areas has been spread now.Its is edible Flower of the part mainly by the rachis of meat increases, helical arrangement in periphery forms, and spends usual shaky, and the perianth harbored is split Piece surrounds a cavity, the intracavitary stamen and style for keeping atrophy.The fiber of leaf is very tough and tensile, for fabric, rope making, knots and makes Paper, for pineapple mainly based on artificial picking entirely, the pineapple picking mechanical possessed in the market is still in initial development both at home and abroad now Stage, it is well known that pineapple is planted extensively in south China, and yield increasingly increases, in China, the cultivated area of pineapple about 70,000 Hectare, based on manually picking, the seasonality of pineapple is stronger in most of pineapple cultivation gardens, and harvest time only 15 days or so, picking It is easy to cause economic loss not in time, since pineapple plant forms and planting patterns there are following characteristics: plant interval is small, and fruit is full of leaves Close, pericarp thorniness brings big inconvenience to picking, and the thorn on pericarp is very easy to stab palm, and fruit leaf is barbed very It being easy to scratch the face of plucker, in entire picking process, peasant needs to put on protective garment and eyeshade when picking pineapple, to prevent Only pineapple leaves hurt body.In picking process, peasant need to be cut off pineapple with cutter from plant, be put into the trailing plants basket at back In, peasant bears heavy trailing plants basket, should brambles throughout pineapple ground in walk, bend over to pick again, physical demands is big, needs Expend a large amount of labour, lead to the harvesting cost increase of pineapple, these problems make manually to pick large labor intensity greatly Greatly, and the picking efficiency of pineapple is low, it is time-consuming and laborious so that the picking cost of pineapple is high, it is therefore necessary to design one The kind automatic seed harvester of pineapple.

Summary of the invention

The purpose of the present invention is to provide a kind of automatic seed harvesters of pineapple.

To achieve this purpose, the present invention adopts the following technical scheme:

A kind of automatic seed harvester of pineapple, including platform truck, support frame, elevating mechanism and gripping body, support frame as described above are provided It is vertically arranged in platform truck top middle portion, support frame is body structure, and support frame length direction two sides are Open architecture, two Block baffle top is horizontally disposed with dynamic drive chamber, and top of support frame is arranged in the elevated levels, and elevating mechanism includes rising Plate drops, and lifter plate is liftable to be arranged inside support frame, and lifter plate top and power drive room are sequentially connected, the catching device Structure is vertically arranged in lifter plate center bottom, and gripping body includes support rod and gripper assembly, support rod in being vertically arranged, and In lifter plate center bottom, gripper assembly is horizontally set on support rod for the setting that support rod is moved back and forth along lifter plate width direction Bottom end, the platform truck top are provided with power supply close to support frame one end, and platform truck is provided with driving group far from one end of power supply Part, the power drive room are provided with control unit, and control unit is electrically connected with power supply and driving assembly respectively, control unit point It is not electrically connected with elevating mechanism and gripping body.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, support frame as described above includes two block baffles, two pieces of gears The setting of plate vertical spacing is along platform truck length direction two sides, and the power drive room includes two the first driving motors, often A first driving motor is in be vertically arranged in power drive indoor bottom end, and each first driving motor output shaft both passes through dynamic Power drive room extends downwardly, elongated end be helicitic texture, the elongated end of each first driving motor with lifting board width side It is threadedly coupled to two sides, two block baffle middle side part level adjacent to each other is fixedly installed two fixed links, lifting group Part further includes four first guide rods, and four first guide rods pass through lifter plate in rectangle and are vertically arranged on lifter plate, and every the One guide rod top is fixedly connected with power drive room bottom end, and every first guide rod bottom end is fixedly connected with fixed link, lifting Plate is respectively provided with close to the two sides of two block baffles there are two the first sliding block, and every block baffle is provided with the first of cooperation the first sliding block sliding The elongated end of sliding slot, each first driving motor is hinged with fixed link.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, middle part is provided with the lifter plate in the width direction For avoiding the first avoid holes of support rod, the length of the first avoid holes is less than the width of lifter plate, lifter plate length direction one Side is horizontally disposed rotating electric machine, and rotating electric machine output shaft passes through lifter plate and extends into the first avoid holes, and rotating electric machine extends End is helicitic texture and is threadedly coupled with support rod, rotating electric machine elongated end extend outwardly across support rod it is hinged with lifter plate, Being horizontally disposed in first avoid holes has four second guide rods, and every second guide rod both passes through support rod, every second guide rod Both ends be fixedly connected with lifter plate, support rod is provided with the second sliding block close to the first avoid holes two sides, in the first avoid holes It is provided with the second sliding slot in the second sliding block East China of cooperation, the support rod lower horizontal is fixedly installed a quarter butt, and quarter butt is remote One end level from support rod is fixedly installed gripper assembly.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, the gripper assembly includes gripping motor, first Control room and two clamping jaws, gripping motor are horizontally set on quarter butt top, and the first control room is horizontally set on quarter butt far from support One end of bar, middle part is horizontally disposed along the vertical direction one piece of partition for the first control room, and the first control room is vertical along its length It is arranged at intervals with first rotating shaft and the second shaft, first rotating shaft bottom end and the first control room bottom end are hinged, and first rotating shaft top is worn It crosses partition to upwardly extend, elongated end level is fixedly installed a first gear, and gripping motor output end passes through the first driving Room extends internally, and the elongated end of gripping motor is provided with the first worm screw, and the first worm screw engages connection with first gear, and described second Shaft top and partition are hinged, and the bottom end of the second shaft and the bottom end of the first control room are hinged, clamping jaw respectively at first rotating shaft and The connection of second rotating shaft transmission, the first control room top are provided with a brace, and the bottom end of brace is fixed with the first control room top Connection, the top of brace is fixedly connected with support rod close to the side of the first control room.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, the first rotating shaft and the second shaft lower part difference It is fixedly installed first connecting rod and the second connecting rod, angled setting between first connecting rod and the second connecting rod, two A clamping jaw is separately positioned on the one end of first connecting rod and the second connecting rod far from the first control room, clamping jaw one side adjacent to each other It is provided with pressure inductor, first connecting rod is provided with second gear close to one end of first rotating shaft, and the second connecting rod is close to One end of one shaft is provided with the third gear being meshed with the second gear, and the first side for controlling separate support rod is free use In the second avoid holes of evacuation first connecting rod and the second connecting rod, first control room bottom end is provided with cutting assembly, institute State the first control room and obtain side close to clamping jaw and be provided with range sensor, control unit by conducting wire respectively with pressure sensor and Range sensor electrical connection, control unit are electrically connected by conducting wire with gripping motor.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, the cutting assembly includes the second control room, two A cutting blade and cutting motor, cutting motor are horizontally set on the second control room close to the side of support rod, and cutting motor is defeated Shaft passes through the second control room and extends internally, and cutting motor elongated end is provided with the second worm screw, vertical spacing in the second control room It is provided with third shaft and the 4th shaft, third shaft and the 4th shaft upper and lower side are hinged with the second control room, third shaft Upper be horizontally disposed with has the 4th gear engaged with the second worm screw, and two cutting blade one end are solid with third shaft and first rotating shaft Fixed connection, two angled settings of cutting blade, each cutting blade are provided with one mutually close to one end of support rod The 5th gear being meshed, the second control room are kept away far from the third that the side of support rod is provided with for avoiding two cutting blades Allow hole, control unit is electrically connected by conducting wire with cutting motor.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, the driving component include the second driving motor and Gear box, the gear box are horizontally set on support frame far from the outside of power supply one end, and gear box bottom is fixedly connected with platform truck, Second driving motor is horizontally set on gear box length direction side, and the second driving motor output shaft passes through gear box and inwardly prolongs It stretches, elongated end is vertically arranged with a driving tooth, and the platform truck lower horizontal is provided with a transmission shaft, drive shaft axis Direction is parallel to each other with the second driving motor output shaft axis direction and is in the same plane, and both ends of the drive shaft, which is provided with, to be used for Fixed hinged seat, transmission shaft are fixedly installed the first driven tooth and the second driven tooth, and the first driven tooth and driving tooth pass through the The connection of one chain, the platform truck are provided with the third avoid holes for avoiding the first chain, set on the platform truck axletree It is equipped with third driven tooth, the second driven tooth is connect with third driven tooth by the second chain, and described control unit passes through conducting wire the The electrical connection of two driving motors.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, between the first connecting rod and the second connecting rod Angle be greater than the angle between two cutting blades.

As a kind of a kind of preferred embodiment of the automatic seed harvester of pineapple, the platform truck is provided with far from one end of power supply Cart handle, cart handle top are provided with control panel, and control unit is electrically connected by conducting wire with control panel, the support Frame bottom end is provided with the appearance barrel for accommodating pineapple, holds barrel bottom end and is connect by buckle with platform truck top.

Beneficial effects of the present invention: this equipment by control unit control driving assembly, lifting assembly and gripping body it Between inter-working, come realize to pineapple it is automatic picking and collection, can effectively avoid fruit leaf and pericarp to picking work The injury of people avoids plucker and bears heavy trailing plants basket for a long time, brambles throughout pineapple ground in walk, bend over to adopt It plucks, consumes huge physical strength, save a large amount of labour, it is time saving and energy saving, the picking cost of pineapple is greatly reduced, is improved The picking efficiency of pineapple.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing.

Fig. 1 is schematic perspective view one of the invention；

Fig. 2 is schematic perspective view two of the invention；

Fig. 3 is positive side view one of the invention；

Fig. 4 is sectional perspective structural schematic diagram one of the invention；

Fig. 5 is the positive top view in part of the invention；

Fig. 6 be in Fig. 5 along the sectional view of A-A；

Fig. 7 is the schematic perspective view one of gripping body of the present invention；

Fig. 8 is the schematic perspective view two of gripping body of the present invention；

Fig. 9 is the schematic perspective view three of gripping body of the present invention；

Figure 10 is the schematic perspective view four of gripping body of the present invention；

Figure 11 is positive side view two of the invention；

Figure 12 is the schematic perspective view of driving assembly of the present invention；

In figure: platform truck 1, support frame 2, power drive room 3, lifter plate 4, support rod 5, power supply 6, control unit 7, the first driving Motor 8, the first guide rod 9, fixed link 10, the first sliding block 11, rotating electric machine 13, the second guide rod 14, the second sliding block 15, quarter butt 16, Gripping motor 17, the first control room 18, clamping jaw 19, first rotating shaft 20, the second shaft 21, first gear 22, the first worm screw 23, the One connecting rod 24, the second connecting rod 25, pressure inductor 26, second gear 27, third gear 28, range sensor 30, second Control room 31, cutting blade 32, cutting motor 33, the second worm screw 34, third shaft 35, the 4th shaft 36, the 4th gear 37, the Five gears 38, the second driving motor 39, gear box 40, driving tooth 41, transmission shaft 42, the first driven tooth 43, the second driven tooth 44, First chain 45, third driven tooth 47, the second chain 48, cart handle 49, control panel 50 hold barrel 51, brace 52, wheel Axis 53.

Specific embodiment

To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.

Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this The limitation of patent；Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not Represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing It is understood that.

The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention In stating, it is to be understood that closed if there is the orientation of the instructions such as term " on ", "lower", "left", "right", "inner", "outside" or position System is merely for convenience of description of the present invention and simplification of the description to be based on the orientation or positional relationship shown in the drawings, rather than indicates Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore retouch in attached drawing The term for stating positional relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.

Referring to figs. 1 to the automatic seed harvester of a kind of pineapple shown in Figure 12, including platform truck 1, support frame 2, elevating mechanism And gripping body, support frame as described above 2 are vertically arranged in 1 top middle portion of platform truck, support frame 2 is body structure, and support frame 2 is long Degree direction two sides are Open architecture, and two block baffle tops are horizontally disposed with dynamic drive chamber 3, the elevated levels setting 2 top of support frame, elevating mechanism include lifter plate 4, and lifter plate 4 is liftable to be arranged inside support frame 2,4 top of lifter plate It is sequentially connected with power drive room 3, the gripping body is vertically arranged in 4 center bottom of lifter plate, and gripping body includes support Bar 5 and gripper assembly, support rod 5 are in be vertically arranged, and support rod 5 exists along the setting that 4 width direction of lifter plate moves back and forth 4 center bottom of lifter plate, gripper assembly are horizontally set on 5 bottom end of support rod, and 1 top of platform truck is close to 2 one end of support frame It is provided with power supply 6, platform truck 1 is provided with driving assembly far from one end of power supply 6, and it is single that the power drive room 3 is provided with control Member 7, control unit 7 is electrically connected with power supply 6 and driving assembly respectively, and control unit 7 is electric with elevating mechanism and gripping body respectively Connection.

Support frame as described above 2 includes two block baffles, and the setting of two block baffle vertical spacings is along 1 length direction two of platform truck Side, the power drive room 3 include two the first driving motors 8, and each first driving motor 8 is in be vertically arranged in power drive Dynamic 3 inner lower edge of room, each first driving motor, 8 output shaft both pass through power drive room 3 and extend downwardly, and elongated end is screw thread Structure, the elongated end of each first driving motor 8 are threadedly coupled with 4 width direction two sides of lifter plate, and two block baffle is mutual A mutually close middle side part level is fixedly installed two fixed links 10, and lifting assembly further includes four first guide rods 9, and four One guide rod 9 passes through lifter plate 4 in rectangle and being vertically arranged on lifter plate 4, every first guide rod, 9 top with power drive room 3 bottom ends are fixedly connected, and every first guide rod, 9 bottom end is fixedly connected with fixed link 10, and lifter plate 4 is close to the two sides of two block baffles It being respectively provided with there are two the first sliding block 11, every block baffle is provided with the first sliding groove of cooperation the first sliding block 11 sliding, and each described the The elongated end of one driving motor 8 is hinged with fixed link 10.When control unit 7 sends electric signal to two the first driving motors 8 When being powered on it, lifter plate 4 starts to go up and down under the rotation of the first driving motor 8 at this time, in the process, when two One driving motor 8 be powered rotation when, two the first driving motors 8 drive two output shafts to start to rotate at this time, when two it is defeated When shaft rotates clockwise, the lifter plate 4 being threadedly coupled at this time with two output shafts starts to move upwards, this is ascending motion, When two output shafts rotate counterclockwise, the lifter plate 4 being threadedly coupled at this time with two output shafts starts to move downward, under this is Drop movement, four first guide rods 9 and two the first sliding blocks 11 can guarantee lifter plate 4 will not shift when moving up and down or The stuck situation of person, enables lifter plate 4 smoothly to move up and down.

Middle part is provided with the first avoid holes for avoiding support rod 5, the first avoid holes to the lifter plate 4 in the width direction Length be less than the width of lifter plate 4,4 length direction side of lifter plate is horizontally disposed rotating electric machine 13, and rotating electric machine 13 is defeated Shaft passes through lifter plate 4 and extends into the first avoid holes, and 13 elongated end of rotating electric machine is helicitic texture and connects with 5 screw thread of support rod It connects, 13 elongated end of rotating electric machine passes through support rod 5 and extends outwardly with lifter plate 4 hingedly, is horizontally disposed in first avoid holes Have four second guide rods 14, every second guide rod 14 both passes through support rod 5, the both ends of every second guide rod 14 with lifter plate 4 It is fixedly connected, support rod 5 is provided with the second sliding block 15 close to the first avoid holes two sides, is provided with cooperation second in the first avoid holes The second sliding slot in 15 East China of sliding block, 5 lower horizontal of support rod are fixedly installed a quarter butt 16, and quarter butt 16 is far from support rod 5 one end level is fixedly installed gripper assembly.When controller sends electric signal to rotating electric machine 13, rotating electric machine 13 at this time It is initially powered up work, the output shaft on rotating electric machine 13 starts to rotate, when 13 output shaft of rotating electric machine rotates clockwise, at this time The support rod 5 being threadedly coupled with rotating electric machine 13 starts to move to the side of 4 width direction of lifter plate, when rotating electric machine 13 exports When axis starts to rotate counterclockwise, the support rod 5 being threadedly coupled at this time with rotating electric machine 13 starts to the another of 4 width direction of lifter plate Side movement, four second guide rods 14 play the stable effect of protection support rod 5, and the second sliding block 15 and second sliding slot can make to prop up Stuck or offset feelings will not occur when moving back and forth along 4 width direction of lifter plate with 13 output shaft of rotating electric machine for strut 5 Condition.

The gripper assembly includes that gripping motor 17, the first control room 18 and two clamping jaws 19,17 level of gripping motor are set It sets on 16 top of quarter butt, the first control room 18 is horizontally set on the one end of quarter butt 16 far from support rod 5, and the first control room 18 is along perpendicular Histogram has one piece of partition to middle part is horizontally disposed, and vertical spacing is provided with 20 He of first rotating shaft to the first control room 18 along its length Second shaft 21,20 bottom end of first rotating shaft and 18 bottom end of the first control room are hinged, and 20 top of first rotating shaft passes through partition and prolongs upwards It stretches, elongated end level is fixedly installed a first gear 22, and 17 output end of gripping motor passes through the first drive chamber and inwardly prolongs It stretches, the elongated end of gripping motor 17 is provided with the first worm screw 23, and the first worm screw 23 engages connection with first gear 22, and described second 21 top of shaft and partition are hinged, and the bottom end of the second shaft 21 and the bottom end of the first control room 18 are hinged, and clamping jaw 19 is respectively at One shaft 20 and the transmission connection of the second shaft 21,18 top of the first control room are provided with a brace 52, the bottom end of brace 52 with First control room, 18 top is fixedly connected, and the top of brace 52 is fixedly connected with support rod 5 close to the side of the first control room 18. When control unit 7 sends electric signal, gripping motor 17 is powered on, gripping motor 17 starts to rotate at this time, gripping motor 17 Output shaft starts to rotate, and the first worm screw 23 on 17 elongated end of gripping motor also starts to rotate at this time, when 17 up time of gripping motor When needle rotates, 23 liquid of the first worm screw, which starts simultaneously at, to be rotated clockwise, and the first gear 22 engaged at this time with the first worm screw 23 is also opened Beginning rotates clockwise, and first gear 22 is fixedly connected with first rotating shaft 20, so first rotating shaft 20 also starts to rotate clockwise, First worm screw, 23 liquid starts simultaneously at rotation counterclockwise, and the first gear 22 engaged at this time with the first worm screw 23 also starts to revolve counterclockwise Turning, first gear 22 is fixedly connected with first rotating shaft 20, so first rotating shaft 20 also starts to rotate counterclockwise, the bottom of brace 52 End is fixedly connected with 18 top of the first control room, and the top of brace 52 is fixed with support rod 5 close to the side of the first control room 18 Connection, makes gripper assembly that can better ensure that stability at work, will not arbitrarily shake.

The first rotating shaft 20 and 21 lower part of the second shaft are fixedly installed first connecting rod 24 and the second connecting rod respectively 25, angled setting between first connecting rod 24 and the second connecting rod 25, two clamping jaws 19 are separately positioned on the first connection The one end of bar 24 and the second connecting rod 25 far from the first control room 18, clamping jaw 19 it is adjacent to each other be provided with pressure inductor on one side 26, first connecting rod 24 is provided with second gear 27 close to one end of first rotating shaft 20, and the second connecting rod 25 is close to first rotating shaft 20 one end is provided with the third gear 28 being meshed with second gear 27, and the first side for controlling separate support rod 5 is freely For avoiding the second avoid holes of first connecting rod 24 and the second connecting rod 25,18 bottom end of the first control room is provided with cutting Component, first control room 18 obtain side close to clamping jaw 19 and are provided with range sensor 30, and control unit 7 passes through conducting wire and distinguishes It is electrically connected with pressure sensor and range sensor 30, control unit 7 is electrically connected by conducting wire with gripping motor 17.When distance passes When sensor 30 senses the position of pineapple, position sensor sends electric signal to control unit 7 at this time, and control unit 7 sends electricity Signal makes gripping motor 17 start to work to gripping motor 17, when gripping motor 17 control first rotating shaft 20 clockwise or Counterclockwise when rotation, the angle between first connecting rod 24 and the second connecting rod 25 starts to increase or reduce at this time, herein mistake Cheng Zhong, when gripping motor 17, which controls first rotating shaft 20, to be rotated clockwise, the second gear 27 on first connecting rod 24 at this time Similarly start to rotate clockwise, at this time because third gear 28 engages connection with second gear 27, second gear 27 is opened Begin counterclockwise rotation, first connecting rod 24 starts to rotate clockwise centered on second gear 27 at this time, the second connecting rod 25 with Start rotation counterclockwise centered on third gear 28, the angle between first connecting rod 24 and the second connecting rod 25 starts to increase at this time Greatly, first connecting rod 24 and the second connecting rod 25 start away from each other far from one end of support rod 5, then two clamping jaws 19 start mutually Mutually separate, this is release process, when gripping motor 17, which controls first rotating shaft 20, to be rotated counterclockwise, first connecting rod 24 at this time On second gear 27 similarly start counterclockwise rotation, at this time because third gear 28 connection, institute are engaged with second gear 27 Starting to rotate clockwise with second gear 27, first connecting rod 24 starts to rotate counterclockwise centered on second gear 27 at this time, Second connecting rod 25 starts to rotate clockwise centered on third gear 28, at this time first connecting rod 24 and the second connecting rod 25 it Between angle start to reduce, first connecting rod 24 and the second connecting rod 25 start far from one end of support rod 5 it is adjacent to each other, then two A clamping jaw 19 start it is adjacent to each other, this be clamping process, when the pressure sensor on clamping jaw 19 senses that pressure increases to centainly When degree, pressure sensor issues electric signal to control unit 7 at this time, and control unit 7 sends electric signal to be made to gripping motor 17 It is powered off, then clamping jaw 19 is no longer adjacent to each other at this time, protects the nipped Pineapple cup clamping jaw 19 to press from both sides bad injured surface with this.

The cutting assembly includes 31, two cutting blades 32 of the second control room and cutting motor 33,33 water of cutting motor Close to the side of support rod 5,33 output shaft of cutting motor passes through the second control room 31 and inwardly prolongs flat second control room 31 that is arranged in It stretches, 33 elongated end of cutting motor is provided with the second worm screw 34, and vertical spacing is provided with 35 He of third shaft in the second control room 31 4th shaft 36, third shaft 35 and 36 upper and lower side of the 4th shaft are hinged with the second control room 31, horizontal in third shaft 35 Be provided with the 4th gear 37 engaged with the second worm screw 34, two 32 one end of cutting blade with third shaft 35 and first rotating shaft 20 are fixedly connected, and two angled settings of cutting blade 32, each cutting blade 32 is respectively provided with close to one end of support rod 5 There is intermeshing 5th gear 38, the second control room 31 is provided with far from the side of support rod 5 and cuts for avoiding two The third avoid holes of cutting blade 32, control unit 7 are electrically connected by conducting wire with cutting motor 33.When range sensor 30 senses When the position of pineapple, position sensor sends electric signal to control unit 7 at this time, and control unit 7 sends electric signal and gives cutting electricity Machine 33 makes cutting motor 33 start to work, and the angle that cutting motor 33 is powered when rotating between two cutting blades 32 at this time increases It is big or smaller, in the process, when cutting motor 33 rotates clockwise, the second snail on 33 output shaft of cutting motor at this time Bar 34 also starts to rotate clockwise, and the 4th gear 37 engaged at this time with the second worm screw 34 also starts to rotate clockwise, the 4th tooth Wheel 37 is fixedly connected with third shaft 35, so third shaft 35 also starts to rotate clockwise, third shaft 35 and the 4th at this time Two the 5th gears 38 in shaft 36 start opposite direction rotating, then the angle between two cutting blades 32 starts constantly to reduce, It is cut off until by the rhizome of pineapple, this is cutting process, and when cutting motor 33 rotates counterclockwise, cutting motor 33 is exported at this time The second worm screw 34 on axis also starts to rotate counterclockwise, and the 4th gear 37 engaged at this time with the second worm screw 34 also starts counterclockwise Rotation, the 4th gear 37 is fixedly connected with third shaft 35, so third shaft 35 also starts to rotate counterclockwise, third turns at this time Two the 5th gears 38 on axis 35 and the 4th shaft 36 start backwards to rotating, then the angle between two cutting blades 32 starts Constantly increase, the rhizome of cutting is unclamped, this is release process.The driving component includes the second driving motor 39 and gear box 40, the gear box 40 is horizontally set on support frame 2 far from the outside of 6 one end of power supply, and 40 bottom of gear box and platform truck 1 are fixed and connected It connects, the second driving motor 39 is horizontally set on 40 length direction side of gear box, and 39 output shaft of the second driving motor passes through transmission Box 40 extends internally, and elongated end is vertically arranged with a driving tooth 41, and 1 lower horizontal of platform truck is provided with a transmission Axis 42,42 axis direction of transmission shaft is parallel to each other with 39 output shaft axis direction of the second driving motor and is in the same plane, 42 both ends of transmission shaft are provided with hinged seat for fixing, and transmission shaft 42 is fixedly installed the first driven tooth 43 and the second driven tooth 44, the first driven tooth 43 is connect with driving tooth 41 by the first chain 45, and the platform truck 1 is provided with for avoiding the first chain 45 third avoid holes are provided with third driven tooth 47 on 1 axletree 53 of platform truck, and the second driven tooth 44 and third are driven Tooth 47 is connected by the second chain 48, and described control unit 7 is electrically connected by the second driving motor of conducting wire 39.Work as range sensor 30 when not sensing the position of pineapple, and range sensor 30 sends electric signal to control unit 7 at this time, and control unit 7 is sent Electric signal gives the second driving motor 39, is powered on the second driving motor 39, when the rotation of 39 up time of the second driving motor, this When the second driving motor 39 on driving tooth 41 also start to rotate clockwise, the first driven tooth being connect at this time with the first chain 45 43 liquid start to rotate clockwise, because the first driven tooth 43 is fixedly connected with transmission shaft 42, the second driven tooth 44 also starts It rotating clockwise, the third driven tooth 47 under the action of the second chain 48 on axletree 53 also starts to turn clockwise at this time, Then whole equipment starts to move forward at this time, when the rotation of 39 inverse time of the second driving motor, at this time on the second driving motor 39 Driving tooth 41 also starts to rotate counterclockwise, and 43 liquid of the first driven tooth connecting at this time with the first chain 45 starts to rotate counterclockwise, Because the first driven tooth 43 is fixedly connected with transmission shaft 42, the second driven tooth 44 also starts to rotate counterclockwise, at this time What the third driven tooth 47 under the action of two chains 48 on axletree 53 also started to turn counterclockwise, then at this time whole equipment start to After move, when range sensor 30 senses the position of pineapple, at this time range sensor 30 send electric signal to control unit 7, control big warm transmission electric signal makes it stop rotating to the second driving motor 39, then whole equipment stops movement at this time.

Angle between the first connecting rod 24 and the second connecting rod 25 is greater than the angle between two cutting blades 32. When range sensor 30 senses the position of pineapple, range sensor 30 sends electric signal to control unit 7 at this time, and control is single Member 7 sends electric signal to gripping motor 17 and cutting motor 33, makes gripping motor 17 and cutting motor 33 while rotating or stopping Only, because the diameter of the fruit of pineapple is greater than the diameter of rhizome, the angle between first connecting rod 24 and the second connecting rod 25 is big Angle between two cutting blades 32, so two intermediate plates, while clamping pineapple, two cutting blades 32 can be just The rhizome of pineapple is cut off well.

The platform truck 1 is provided with cart handle 49 far from one end of power supply 6, and 49 top of cart handle is provided with control plane Plate 50, control unit 7 are electrically connected by conducting wire with control panel 50, and 2 bottom end of support frame as described above is provided with for accommodating pineapple Hold barrel 51, holds 51 bottom end of barrel and connect by buckle with 1 top of platform truck.Under gripper assembly picks pineapple from rhizome After coming, it can just be put into and hold in barrel 51, appearance 51 bottom of barrel, which is connected by a snap, can replace various sizes of appearance material Cylinder 51, and can guarantee the stabilization for holding barrel 51 in the process of moving, is provided with switch on control panel 50, when not adopting When plucking pineapple, automatic picking function can be turned off by control panel 50, staff is enable to move this equipment with hand push.

Working principle: when picking personnel need to pick pineapple, this equipment is shifted onto the field of pineapple by picking personnel Between ridge, color picture personnel open the switch on control panel 50 at this time, this equipment is started to work at this time, when range sensor 30 does not have When sensing the position of pineapple, range sensor 30 sends electric signal to control unit 7 at this time, and control unit 7 sends electric signal To the second driving motor 39, it is powered on the second driving motor 39, when the rotation of 39 up time of the second driving motor, at this time second Driving tooth 41 on driving motor 39 also starts to rotate clockwise, and 43 liquid of the first driven tooth connecting at this time with the first chain 45 is opened Beginning rotates clockwise, because the first driven tooth 43 is fixedly connected with transmission shaft 42, the second driven tooth 44 also starts clockwise Rotation, the third driven tooth 47 under the action of the second chain 48 on axletree 53 also starts to turn clockwise at this time, then at this time Whole equipment starts to move forward, and when range sensor 30 senses the position of pineapple, range sensor 30 sends electricity at this time Signal to control unit 7, control it is big it is warm send electric signal and so that it is stopped rotating to the second driving motor 39, then whole equipment at this time Stop movement, range sensor 30 sends electric signal to control unit 7 at this time, and control unit 7 sends electric signal to two first When driving motor 8 is powered on it, when two the first driving motors 8 are powered rotation, two 8 bands of the first driving motor at this time Two output shafts are moved to start to rotate, when two output shafts rotate clockwise, the liter that is threadedly coupled at this time with two output shafts Drop plate 4 start to move upwards, this is ascending motion, when two output shafts rotate counterclockwise, at this time with two output axle threads The lifter plate 4 of connection starts to move downward, this is descending motion, and when lifter plate 4 is elevated to suitable height, distance is passed at this time Sensor 30 sends electric signal to controller, and controller sends electric signal to two the first driving motors 8 and lifting motor, and at this time two A first driving motor 8 stops working, and rotating electric machine 13 is initially powered up work at this time, and the output shaft on rotating electric machine 13 starts to revolve Turn, when 13 output shaft of rotating electric machine rotates clockwise, the support rod 5 being threadedly coupled at this time with rotating electric machine 13 starts to lifting The side of 4 width direction of plate moves, when 13 output shaft of rotating electric machine starts to rotate counterclockwise, at this time with 13 screw thread of rotating electric machine The support rod 5 of connection starts to move to the other side of 4 width direction of lifter plate, when support rod 5 is moved to properly on lifter plate 4 Position when, at this time range sensor 30 send electric signal to control unit 7,7 rotating electric machine 13 of control unit make its stop rotation Turn, range sensor 30 sends electric signal to control unit 7 respectively at this time, and control unit 7 sends electric signal respectively and gives clamping electricity Machine 17 and cutting motor 33, gripping motor 17 and cutting motor 33 are initially powered up work at this time, when gripping motor 17 is revolved counterclockwise When turning, 23 liquid of the first worm screw starts simultaneously at rotation counterclockwise, and the first gear 22 engaged at this time with the first worm screw 23 also starts inverse Hour hands rotation, first gear 22 are to be fixedly connected with first rotating shaft 20, so first rotating shaft 20 also starts to rotate counterclockwise, work as folder Take motor 17 control first rotating shaft 20 counterclockwise rotate when, at this time the second gear 27 on first connecting rod 24 similarly start Rotation counterclockwise, at this time because third gear 28 engages connection with second gear 27, second gear 27 starts to revolve clockwise Turn, first connecting rod 24 starts to rotate counterclockwise centered on second gear 27 at this time, and the second connecting rod 25 is with third gear 28 Centered on start to rotate clockwise, the angle between first connecting rod 24 and the second connecting rod 25 starts to reduce at this time, first connect Extension bar 24 and the second connecting rod 25 start adjacent to each other far from one end of support rod 5, then two clamping jaws 19 start adjacent to each other, when When pressure sensor on clamping jaw 19 senses that pressure is increased to a certain extent, pressure sensor issues electric signal to control at this time Unit 7, control unit 7, which sends electric signal, makes its power-off to gripping motor 17, then clamping jaw 19 is no longer adjacent to each other at this time, is come with this Nipped Pineapple cup clamping jaw 19 is protected to press from both sides bad injured surface, at this time when cutting motor 33 rotates clockwise, cutting is electric at this time The second worm screw 34 on 33 output shaft of machine also starts to rotate clockwise, and the 4th gear 37 engaged at this time with the second worm screw 34 is also opened Beginning rotates clockwise, and the 4th gear 37 is fixedly connected with third shaft 35, so third shaft 35 also starts to rotate clockwise, this When third shaft 35 and the 4th shaft 36 on two the 5th gears 38 start opposite direction rotating, then between two cutting blades 32 Angle starts constantly to reduce, and cuts off until by the rhizome of pineapple, and entire pineapple is moved to and holds on barrel 51 by support rod 5 at this time Side, gripping motor 17 starts to rotate at this time, and 17 output shaft of gripping motor starts to rotate, at this time the on 17 elongated end of gripping motor One worm screw 23 also starts to rotate, and when gripping motor 17 rotates clockwise, 23 liquid of the first worm screw, which starts simultaneously at, to be rotated clockwise, this When the first gear 22 that is engaged with the first worm screw 23 also start to rotate clockwise, first gear 22 and first rotating shaft 20 are fixed connect It connects, so first rotating shaft 20 also starts to rotate clockwise, when gripping motor 17, which controls first rotating shaft 20, to be rotated clockwise, this When first connecting rod 24 on second gear 27 similarly start to rotate clockwise, at this time because of third gear 28 and second gear 27 engagement connections, so second gear 27 starts to rotate counterclockwise, first connecting rod 24 is opened centered on second gear 27 at this time Beginning rotates clockwise, the second connecting rod 25 started centered on third gear 28 counterclockwise rotate, at this time first connecting rod 24 with Angle between second connecting rod 25 starts to increase, and first connecting rod 24 and the second connecting rod 25 are opened far from one end of support rod 5 Begin away from each other, then two clamping jaws 19 start away from each other, pineapple to be unclamped to be put into and is held in barrel 51, then entire pineapple is adopted Process completion is plucked, equipment repeats the pineapple picking that above procedure continues next step at this time.

In the description of the present invention unless specifically defined or limited otherwise, if there are the indicate indicators such as term " connection " Between connection relationship, which shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or at One；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection of two components interiors or the interaction relationship of two components.For those of ordinary skill in the art and Speech, can understand the concrete meaning of above-mentioned term in the present invention with concrete condition.

It is to be understood that above-mentioned specific embodiment is only that presently preferred embodiments of the present invention and institute's application technology are former Reason.It will be understood by those skilled in the art that various modifications, equivalent replacement, variation etc. can also be done to the present invention.But this A little transformation, all should be within protection scope of the present invention without departing from spirit of the invention.In addition, present specification and power Some terms used in sharp claim are not limitation, it is only for convenient for description.

Claims

1. a kind of automatic seed harvester of pineapple, it is characterised in that: including platform truck (1), support frame (2), elevating mechanism and clamping Mechanism, support frame as described above (2) are vertically arranged in platform truck (1) top middle portion, and support frame (2) is body structure, and support frame (2) Length direction two sides are Open architecture, and two block baffle tops are horizontally disposed with dynamic drive chamber (3), the elevated levels Support frame (2) top is set, elevating mechanism includes lifter plate (4), and the liftable setting of lifter plate (4) is internal in support frame (2), Lifter plate (4) top and power drive room (3) are sequentially connected, and the gripping body is vertically arranged in lifter plate (4) center bottom, Gripping body includes support rod (5) and gripper assembly, and support rod (5) is in be vertically arranged, and support rod (5) is along lifter plate (4) In lifter plate (4) center bottom, gripper assembly is horizontally set on support rod (5) bottom end, institute for the setting that width direction moves back and forth It states platform truck (1) top to be provided with power supply (6) close to support frame (2) one end, platform truck (1) is arranged far from the one end of power supply (6) Have driving assembly, the power drive room (3) is provided with control unit (7), control unit (7) respectively with power supply (6) and driving Component electrical connection, control unit (7) are electrically connected with elevating mechanism and gripping body respectively.

2. the automatic seed harvester of a kind of pineapple according to claim 1, it is characterised in that: support frame as described above (2) includes two Block baffle, along platform truck (1) length direction two sides, the power drive room (3) includes for the settings of two block baffle vertical spacings Two the first driving motors (8), each first driving motor (8) is in power drive room (3) inner lower edge is vertically arranged in, often A first driving motor (8) output shaft both passes through power drive room (3) and extends downwardly, and elongated end is helicitic texture, Mei Ge The elongated end of one driving motor (8) is threadedly coupled with lifter plate (4) width direction two sides, and two block baffle is adjacent to each other One middle side part level is fixedly installed two fixed links (10), and lifting assembly further includes four first guide rods (9), and four first are led Bar (9) passes through lifter plate (4) in rectangle and is vertically arranged on lifter plate (4), and every first guide rod (9) top is driven with power Dynamic room (3) bottom end is fixedly connected, and every first guide rod (9) bottom end is fixedly connected with fixed link (10), and lifter plate (4) is close to two The two sides of block baffle are respectively provided with there are two the first sliding block (11), and every block baffle is provided with the first of cooperation the first sliding block (11) sliding Sliding slot, the elongated end of each first driving motor (8) are hinged with fixed link (10).

3. the automatic seed harvester of a kind of pineapple according to claim 2, it is characterised in that: the lifter plate (4) is along width The first avoid holes for avoiding support rod (5) are provided in the middle part of direction, the length of the first avoid holes is less than the width of lifter plate (4) Degree, lifter plate (4) length direction side is horizontally disposed to be had rotating electric machine (13), and rotating electric machine (13) output shaft passes through lifter plate (4) extend into the first avoid holes, rotating electric machine (13) elongated end is helicitic texture and is threadedly coupled with support rod (5), is rotated Motor (13) elongated end passes through support rod (5) and extends outwardly with lifter plate (4) hingedly, and being horizontally disposed in first avoid holes has Four second guide rods (14), every second guide rod (14) both pass through support rod (5), the both ends of every second guide rod (14) with liter Drop plate (4) is fixedly connected, and support rod (5) is provided with the second sliding block (15) close to the first avoid holes two sides, is set in the first avoid holes It is equipped with the second sliding slot in cooperation the second sliding block (15) East China, support rod (5) lower horizontal is fixedly installed a quarter butt (16), quarter butt (16) is fixedly installed gripper assembly far from one end level of support rod (5).

4. the automatic seed harvester of a kind of pineapple according to claim 3, it is characterised in that: the gripper assembly includes clamping Motor (17), the first control room (18) and two clamping jaws (19), gripping motor (17) are horizontally set on quarter butt (16) top, and first Control room (18) be horizontally set on quarter butt (16) far from support rod (5) one end, the first control room (18) along the vertical direction middle part Horizontally disposed to have one piece of partition, vertical spacing is provided with first rotating shaft (20) and second turn to the first control room (18) along its length Axis (21), first rotating shaft (20) bottom end and the first control room (18) bottom end are hinged, and it is upward that first rotating shaft (20) top passes through partition Extend, elongated end level is fixedly installed a first gear (22), and gripping motor (17) output end passes through the first drive chamber It extends internally, the elongated end of gripping motor (17) is provided with the first worm screw (23), and the first worm screw (23) nibbles with first gear (22) Connection is closed, the second shaft (21) top and partition are hinged, the bottom end of the second shaft (21) and the bottom of the first control room (18) End is hinged, and clamping jaw (19) is sequentially connected respectively at first rotating shaft (20) and the second shaft (21), and the first control room (18) top is set Be equipped with a brace (52), the bottom end of brace (52) is fixedly connected with the first control room (18) top, the top of brace (52) with Support rod (5) is fixedly connected close to the side of the first control room (18).

5. the automatic seed harvester of a kind of pineapple according to claim 4, it is characterised in that: the first rotating shaft (20) and Two shafts (21) lower part is fixedly installed first connecting rod (24) and the second connecting rod (25), first connecting rod (24) and respectively Angled setting between two connecting rods (25), two clamping jaws (19) are separately positioned on first connecting rod (24) and the second connection The one end of bar (25) far from the first control room (18), clamping jaw (19) is adjacent to each other to be provided with pressure inductor (26) on one side, the One connecting rod (24) is provided with second gear (27) close to the one end of first rotating shaft (20), and the second connecting rod (25) is close to first turn One end of axis (20) is provided with the third gear (28) being meshed with second gear (27), and the first control room (18) is far from support rod (5) side is provided with the second avoid holes for avoiding first connecting rod (24) and the second connecting rod (25), first control Room (18) bottom end processed is provided with cutting assembly, and first control room (18) obtains side close to clamping jaw (19) and is provided with Distance-sensing Device (30), control unit (7) are electrically connected with pressure sensor and range sensor (30) respectively by conducting wire, control unit (7) It is electrically connected by conducting wire with gripping motor (17).

6. the automatic seed harvester of a kind of pineapple according to claim 5, it is characterised in that: the cutting assembly includes second Control room (31), two cutting blades (32) and cutting motor (33), cutting motor (33) are horizontally set on the second control room (31) close to the side of support rod (5), cutting motor (33) output shaft passes through the second control room (31) and extends internally, cutting motor (33) elongated end is provided with the second worm screw (34), and the second control room (31) interior vertical spacing is provided with third shaft (35) and the 4th Shaft (36), third shaft (35) and the 4th shaft (36) upper and lower side with the second control room (31) hingedly, third shaft (35) Upper horizontally disposed have the 4th gear (37) engaged with the second worm screw (34), two cutting blade (32) one end with third shaft (35) it is fixedly connected with first rotating shaft (20), two angled settings of cutting blade (32), each cutting blade (32) is leaned on One end of nearly support rod (5) is provided with intermeshing 5th gear (38), and the second control room (31) is far from support rod (5) side is provided with the third avoid holes for avoiding two cutting blades (32), and control unit (7) passes through conducting wire and cutting Motor (33) electrical connection.

7. the automatic seed harvester of a kind of pineapple according to claim 1, it is characterised in that: the driving component includes second Driving motor (39) and gear box (40), the gear box (40) are horizontally set on support frame (2) far from outside power supply (6) one end Side, gear box (40) bottom are fixedly connected with platform truck (1), and the second driving motor (39) is horizontally set on gear box (40) length Direction side, the second driving motor (39) output shaft pass through gear box (40) and extend internally, and elongated end is vertically arranged with one Driving tooth (41), platform truck (1) lower horizontal are provided with a transmission shaft (42), transmission shaft (42) axis direction and second Driving motor (39) output shaft axis direction is parallel to each other and is in the same plane, and transmission shaft (42) both ends are provided with for solid Fixed hinged seat, transmission shaft (42) are fixedly installed the first driven tooth (43) and the second driven tooth (44), the first driven tooth (43) Connect with driving tooth (41) by the first chain (45), the platform truck (1), which is provided with, is used to avoid the of the first chain (45) Three avoid holes are provided with third driven tooth (47) on platform truck (1) axletree (53), the second driven tooth (44) and third from Movable tooth (47) is connected by the second chain (48), and described control unit (7) is electrically connected by the second driving motor of conducting wire (39).

8. the automatic seed harvester of a kind of pineapple according to claim 6, it is characterised in that: the first connecting rod (24) with Angle between second connecting rod (25) is greater than the angle between two cutting blades (32).

9. the automatic seed harvester of a kind of pineapple according to claim 1, it is characterised in that；The platform truck (1) is far from electricity The one end in source (6) is provided with cart handle (49), and cart handle (49) top is provided with control panel (50), control unit (7) It being electrically connected by conducting wire with control panel (50), support frame as described above (2) bottom end is provided with the appearance barrel (51) for accommodating pineapple, Hold barrel (51) bottom end to connect by buckle with platform truck (1) top.